C++ Blob::getLeftBottomX方法代码示例

/*	Draws the outline of a blob in the specified color.
 * @param b	   the blob
 * @param c	   the color to paint
 */
void Ball::drawBlob(Blob b, int c) {
#ifdef OFFLINE
	thresh->drawLine(b.getLeftTopX(), b.getLeftTopY(),
					 b.getRightTopX(), b.getRightTopY(),
					 c);
	thresh->drawLine(b.getLeftTopX(), b.getLeftTopY(),
					 b.getLeftBottomX(), b.getLeftBottomY(),
					 c);
	thresh->drawLine(b.getLeftBottomX(), b.getLeftBottomY(),
					 b.getRightBottomX(), b.getRightBottomY(),
					 c);
    thresh->drawLine(b.getRightTopX(), b.getRightTopY(),
					 b.getRightBottomX(), b.getRightBottomY(),
					 c);
#endif
}

/*  When we're looking for balls it is helpful if they are surrounded by green.
 * The best place to look is underneath.  So let's do that.
 * @param b    the potential ball
 * @return     did we find some green?
 */
bool Ball::greenCheck(Blob b)
{
    const int ERROR_TOLERANCE = 5;
	const int EXTRA_LINES = 10;
	const int MAX_BAD_PIXELS = 4;

    if (b.getRightBottomY() >= IMAGE_HEIGHT - 1 ||
		b.getLeftBottomY() >= IMAGE_HEIGHT-1)
		return true;
    if (b.width() > IMAGE_WIDTH / 2) return true;
    int w = b.width();
    int y = 0;
    int x = b.getLeftBottomX();
	stop scan;
    for (int i = 0; i < w; i+= 2) {
        y = b.getLeftBottomY();
        vertScan(x + i, y, 1, ERROR_TOLERANCE, GREEN, GREEN, scan);
        if (scan.good > 1)
            return true;
    }
    // try one more in case its a white line
    int bad = 0;
    for (int i = 0; i < EXTRA_LINES && bad < MAX_BAD_PIXELS; i++) {
        int pix = thresh->thresholded[min(IMAGE_HEIGHT - 1,
										  b.getLeftBottomY() + i)][x];
        if (pix == GREEN) return true;
        if (pix != WHITE) bad++;
    }
    return false;
}

/* Print debugging information for a blob.
 * @param b    the blob
 */
void Robots::printBlob(Blob b) {
#if defined OFFLINE
    cout << "Outputting blob" << endl;
    cout << b.getLeftTopX() << " " << b.getLeftTopY() << " " << b.getRightTopX() << " "
            << b.getRightTopY() << endl;
    cout << b.getLeftBottomX() << " " << b.getLeftBottomY() << " " << b.getRightBottomX()
            << " " << b.getRightBottomY() << endl;
#endif
}

/**
 * Update the robot values from the blob
 *
 * @param b The blob to update our object from.
 */
void VisualRobot::updateRobot(Blob b)
{
    setLeftTopX(b.getLeftTopX());
    setLeftTopY(b.getLeftTopY());
    setLeftBottomX(b.getLeftBottomX());
    setLeftBottomY(b.getLeftBottomY());
    setRightTopX(b.getRightTopX());
    setRightTopY(b.getRightTopY());
    setRightBottomX(b.getRightBottomX());
    setRightBottomY(b.getRightBottomY());
    setX(b.getLeftTopX());
    setY(b.getLeftTopY());
    setWidth(dist(b.getRightTopX(), b.getRightTopY(), b.getLeftTopX(),
                       b.getLeftTopY()));
    setHeight(dist(b.getLeftTopX(), b.getLeftTopY(), b.getLeftBottomX(),
                        b.getLeftBottomY()));
    setCenterX(getLeftTopX() + ROUND2(getWidth() / 2));
    setCenterY(getRightTopY() + ROUND2(getHeight() / 2));
    setDistance(1);
}

/*  When we're looking for balls it is helpful if they are surrounded by green.
 * The best place to look is underneath, but that doesn't always work.  So let's
 * try the other sides.
 * @param b    the potential ball
 * @return     did we find some green?
 */
bool Ball::greenSide(Blob b)
{
    const int ERROR_TOLERANCE = 5;
	const int X_EXTRA = 8;

    int x = b.getRightBottomX();
    int y = b.getRightBottomY();
	stop scan;
    for (int i = y; i > (b.height()) / 2; i = i - 2) {
        horizontalScan(x, i, 1, ERROR_TOLERANCE, GREEN, GREEN, x - 1,
					   x + X_EXTRA, scan);
        if (scan.good > 0)
            return true;
    }
    x = b.getLeftBottomX();
    y = b.getLeftBottomY();
    for (int i = y; i > (b.height()) / 2; i = i - 2) {
        horizontalScan(x, i, -1, ERROR_TOLERANCE, GREEN, GREEN,
					   x - X_EXTRA, x + 1, scan);
        if  (scan.good == 0)
            return true;
    }
    return false;
}

/* When we process blobs we start them with BAD_VALUE such that we can easily
 * tell if whatever processing we did worked out.  Here we make that check.
 * @param b	   the blob we worked on.
 * @return	   true when the processing worked, false otherwise
 */
bool Ball::blobOk(Blob b) {
	if (b.getLeftTopX() > BAD_VALUE && b.getLeftBottomX() > BAD_VALUE &&
			b.width() > 2)
		return true;
	return false;
}